Machining system and machining method

Abstract

The invention relates to the technical field of end face groove machining, in particular to a machining system and a machining method. The machining system comprises a main frame, a machining mechanism, a moving mechanism and a positioning mechanism. The machining mechanism is arranged on the machining side of the main frame and used for machining a groove. The moving mechanism comprises a recognition mechanism and two crawling units arranged on the machining side and the supporting side. The crawling units are used for driving the main frame to move in the extending direction of the end face of the workpiece. The recognition mechanism is used for recognizing a welding seam on the workpiece, so that the crawling unit can cross the welding seam on the workpiece; the machining side and the supporting side are each provided with a positioning mechanism, and the positioning mechanisms are used for making contact with the end face of a workpiece so as to achieve X-direction positioning. The machining system can move in the extending direction of the end face of the workpiece, has a welding seam crossing function, achieves grinding of an end face groove, is high in automation degree, and solves the technical problem that in the prior art, a large workpiece groove needs to be manually ground.

Description

Technical Field

[0001] The present invention relates to the technical field of end face groove machining, and in particular to a machining system and a machining method. Background Art

[0002] A groove refers to an inclined edge machined on the edge of a workpiece to be welded. The design of the groove is crucial for ensuring welding quality and structural strength. Groove machining equipment for machining grooves is widely used in industries such as shipbuilding, petroleum, chemical engineering, and electric power.

[0003] Common groove machining equipment is mostly portable groove machines, which generally complete groove machining of small diameters and small batches by being held by an operator manually, and are not suitable for large workpieces, such as large-diameter tubular / ring-shaped workpieces. In view of this, the present invention proposes a machining system for machining grooves on the end face of large workpieces; the present invention also proposes a machining method based on the above machining system. Summary of the Invention

[0004] The main object of the present invention is to propose a machining system for machining grooves on the end face of large workpieces; the present invention also proposes a machining method based on the above machining system.

[0005] To achieve the above object, an embodiment of one aspect of the present invention provides a machining system for machining grooves on the end face of a workpiece; the machining system includes: a main frame, a machining mechanism, a moving mechanism, and a positioning mechanism; The main frame has a machining side and a support side arranged opposite to each other; The machining mechanism is arranged on the machining side; the machining mechanism includes a tool assembly for machining grooves and a feed assembly for driving the tool assembly to move in the X direction and the Z direction; The moving mechanism includes an identification mechanism and two crawling units arranged on the machining side and the support side, and the crawling unit is used to drive the main frame to move along the extension direction of the workpiece end face; the identification mechanism is used to identify the weld on the workpiece so that the crawling unit can cross when passing over the weld on the workpiece; The positioning mechanism is arranged on both the machining side and the support side, and the positioning mechanism is used to contact the end face of the workpiece to achieve X-direction positioning.

[0006] Further, the main frame is connected with a connecting frame, a first frame body and a second frame body arranged opposite to each other; The first frame body forms the machining side, and the second frame body forms the support side; The first frame body and the second frame body are connected by the connecting frame, and the connecting frame can adjust the distance between the first frame body and the second frame body.

[0007] Further, the tool assembly includes a tool head and a first driving member. The first driving member is in transmission connection with the tool head and is used to drive the tool head to rotate.

[0008] Further, the feeding assembly includes an X-direction feeding assembly and a Z-direction feeding assembly; the processing mechanism further includes a first equipment frame; The tool assembly is arranged on the first equipment frame through the X-direction feeding assembly. The X-direction feeding assembly is used to drive the tool assembly to move along the X direction; the first equipment frame is arranged on the main frame through the Z-direction feeding assembly. The Z-direction feeding assembly is used to drive the first equipment frame to move along the Z direction.

[0009] Further, the crawling unit includes multiple groups of wheel sets arranged at intervals along the Y direction; each group of the wheel sets includes two crawling assemblies; The crawling assembly includes a driving component and a crawling wheel; the two crawling wheels of the same wheel set are arranged at intervals up and down. The driving component is in transmission connection with the crawling wheel and is used to drive the crawling wheel to rotate and to drive the crawling wheel to move in a direction close to or away from another crawling wheel of the same wheel set; The recognition mechanism is electrically connected to the driving component. The driving component also controls the crawling wheel to cross the weld on the workpiece based on the information recognized by the recognition mechanism.

[0010] Further, the wheel sets of the two crawling units correspond to each other one by one, and the two corresponding wheel sets are arranged oppositely.

[0011] Further, the recognition mechanism includes two laser sensors; the two laser sensors are respectively arranged at both ends of the main frame along the first direction.

[0012] Further, the positioning mechanism includes a second equipment frame, a reference wheel, a second driving member and a pushing member; The second equipment frame is fixedly arranged on the main frame; The reference wheel is arranged on the second equipment frame through the pushing member. The pushing member can drive the reference wheel to move in a direction close to or away from the end face of the workpiece; the second driving member is in transmission connection with the reference wheel and drives the reference wheel to rotate.

[0013] Further, the positioning mechanism further includes an auxiliary wheel, an elastic component and a displacement sensor; The auxiliary wheel is rotatably arranged. The auxiliary wheel is arranged on the second equipment frame through the elastic component; The displacement sensor is fixedly arranged on the second equipment frame and is used to detect the position information of the auxiliary wheel, and the pushing member drives the reference wheel to move based on the detection information of the displacement sensor.

[0014] Another embodiment of the present invention also provides a processing method based on the above processing system; The workpiece is tubular and is formed by rolling and welding a plate. The processing method includes the steps of: Lifting the processing system between two workpieces by a lifting device; Adjust the distance between the processing side and the support side, and install the processing side and the support side on the end faces of the two workpieces respectively; Select the corresponding tool and start the tool assembly for processing; After the processing is completed, turn the processing system 180° by the lifting device to process the end face of another workpiece.

[0015] Advantages of the present invention: A processing system provided by the present invention is used for bevel processing of the end face of a workpiece; the processing system includes: a main frame, a processing mechanism, a moving mechanism and a positioning mechanism; the main frame has a processing side and a support side arranged opposite to each other; the processing mechanism is arranged on the processing side; the processing mechanism includes a tool assembly for processing the bevel and a feed assembly for driving the tool assembly to move in the X direction and the Z direction; the moving mechanism includes an identification mechanism and two crawling units arranged on the processing side and the support side, and the crawling unit is used to drive the main frame to move along the extending direction of the end face of the workpiece; the identification mechanism is used to identify the weld on the workpiece so that the crawling unit can cross when passing over the weld on the workpiece; positioning mechanisms are arranged on both the processing side and the support side, and the positioning mechanism is used to contact the end face of the workpiece to achieve X-direction positioning.

[0016] The processing system can move along the extending direction of the end face of the workpiece, and has a weld crossing function, realizing the grinding of the end face bevel, with a high degree of automation, and solving the technical pain point of manual grinding of large workpiece bevels in the prior art. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the following will briefly introduce the drawings required to be used in the description of the specific embodiments or the prior art. Obviously, the following drawings are some embodiments of the present invention. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0018] Figure 1 It is a schematic structural diagram of the processing system provided by the embodiment of the present invention; Figure 2It is a schematic structural diagram of a processing mechanism; Figure 3 It is a schematic structural diagram of a crawling wheel assembly; Figure 4 It is a schematic diagram of a positioning mechanism.

[0019] Icon: 1 - Processing mechanism; 11 - Tool assembly; 111 - Tool tip; 112 - First driving part; 113 - Planetary reducer; 12 - X - direction feeding assembly; 121 - Third driving part; 122 - X - direction slide rail; 123 - X - direction slide block; 13 - Z - direction feeding assembly; 131 - Fourth driving part; 132 - Z - direction slide rail; 133 - Z - direction slide block; 134 - Second transmission assembly; 14 - First equipment frame; 141 - Horizontal plate; 142 - Vertical plate; 1421 - Notch; 2 - Moving mechanism; 21 - Wheel set; 22 - Crawling wheel assembly; 221 - Crawling wheel; 23 - Driving assembly; 231 - Support block; 232 - Rotary driving motor; 233 - Reducer; 234 - Lifting sliding sleeve; 235 - Radial driving motor; 236 - Lifting slide block; 237 - Lifting slide rail; 238 - Lead screw assembly; 24 - Identification mechanism; 3 - Positioning mechanism; 31 - Second equipment frame; 32 - Reference wheel; 33 - Second driving part; 34 - Pushing part; 35 - Auxiliary wheel; 36 - Elastic component; 37 - Displacement sensor; 4 - Main frame; 41 - First frame body; 42 - Second frame body; 43 - Connecting frame. Detailed implementation manners

[0020] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations.

[0021] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts belong to the scope of protection of the present invention.

[0022] It should be noted that: similar reference numerals and letters denote similar items in the following drawings. Therefore, once an item is defined in one drawing, it does not need to be further defined and explained in subsequent drawings.

[0023] In the description of the present invention, it should be noted that the orientation or positional relationship indicated by the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc. is based on the orientation or positional relationship shown in the drawings, or the orientation or positional relationship in which the product of the invention is usually placed during use. It is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation to the present invention. In addition, the terms "first", "second", "third", etc. are only used for distinguishing descriptions and should not be construed as indicating or implying relative importance.

[0024] In addition, terms such as "horizontal", "vertical", "hanging" do not mean that the component is required to be absolutely horizontal or hanging, but can be slightly inclined. For example, "horizontal" only means that its direction is more horizontal relative to "vertical", and does not mean that the structure must be completely horizontal, but can be slightly inclined.

[0025] In the description of the present invention, it should also be noted that unless otherwise clearly specified and defined, the terms "set", "install", "connect", "couple" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be directly connected or indirectly connected through an intermediate medium, and it can be the communication inside two elements. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0026] The following will describe in detail some embodiments of the present invention with reference to the drawings. Without conflict, the following embodiments and the features in the embodiments can be combined with each other.

[0027] As Figures 1 to 4 shown, an embodiment of the present invention provides a processing system for machining a bevel on the end face of a workpiece. The above-mentioned processing system includes a main frame 4, a processing mechanism 1, a moving mechanism 2, and a positioning mechanism 3. First of all, it should be noted that the X direction, Y direction, and Z direction mentioned in this embodiment have been shown in Figure 1As shown in the figure. The main frame 4 has a processing side and a supporting side, which are oppositely arranged. The processing mechanism 1 is arranged on the processing side of the main frame 4, and the moving mechanism 2 and the positioning mechanism 3 are arranged on the processing side and the supporting side of the main frame 4. A number of lifting holes are provided on the main frame 4. During use, first, the main frame 4 is lifted by a lifting device between two workpieces arranged at intervals, and the main frame 4 is clamped on the two workpieces by the moving mechanism 2 arranged on the processing side and the supporting side. Then, the moving mechanism 2 drives the main frame 4 to move along the extension direction of the workpiece groove, so that the processing mechanism 1 can grind the end face of the workpiece and form a groove on the end face of the workpiece. The processing mechanism 1 includes a tool assembly 11 and a feeding assembly. The tool assembly 11 is used for grinding the end face of the workpiece and forming a groove. The feeding assembly is connected to the tool assembly 11 and is used to drive the tool to move along the X direction and the Z direction, so that the tool assembly 11 can contact the end face of the workpiece, or the tool assembly 11 can be away from the end face of the workpiece to achieve the avoidance function. The moving mechanism 2 includes two crawling units, which are respectively fixedly arranged on the processing side and the supporting side of the main frame 4. The crawling unit can clamp the workpiece and can also drive the main frame 4 to move along the extension direction of the workpiece end face, so that the processing mechanism 1 and the positioning mechanism 3 on the main frame 4 can move along the extension direction of the workpiece end face; the moving mechanism 2 also includes an identification mechanism 24. When the workpiece is a large ring welded part with a weld seam, the identification mechanism 24 can identify the weld seam on the workpiece, so that the moving mechanism 2 can straddle the weld seam during movement and avoid interference with the weld seam. Multiple groups of positioning mechanisms 3 are arranged on both the processing side and the positioning side. During use, the positioning mechanism 3 can contact the end face of the workpiece to cooperate with the crawling mechanism to achieve X-direction positioning of the main frame 4 when the main frame 4 moves.

[0028] In this embodiment, the above-mentioned processing system can move along the extension direction of the workpiece end face, and has the function of straddling the weld seam, realizing the grinding of the end face groove, with high automation, and solving the technical pain point of manual grinding of large workpiece grooves in the prior art.

[0029] Optionally, as Figure 1 shown, the above-mentioned main frame 4 includes a first frame body 41, a second frame body 42 and a connecting frame 43. The first frame body 41 and the second frame body 42 are oppositely arranged. The first frame body 41 forms the above-mentioned processing side, and the second frame body 42 forms the above-mentioned supporting side. The first frame body 41 and the second frame body 42 are connected by the connecting frame 43. And preferably, under the action of the connecting frame 43, the first frame body 41 and the second frame body 42 can approach or move away from each other to adapt to the gap between the two workpieces, adapt to various different work positions, and improve the applicability of the processing system.

[0030] Optionally, in this embodiment, a track is provided on the connecting frame 43. The first frame body 41 and the second frame body 42 are both slidably mounted on the track. A lead screw mechanism and a handwheel cooperating with the lead screw mechanism are further provided on the connecting frame 43. Two ends of the lead screw mechanism are respectively connected to the first frame body 41 and the second frame body 42. During use, by rotating the handwheel, under the action of the lead screw mechanism, the first frame body 41 and the second frame body 42 can approach or move away from each other.

[0031] The processing system provided by the embodiment of the present invention, as Figure 1 and Figure 2 shown, the tool assembly 11 includes a tool head 111 and a first driving member 112. The first driving member 112 is in transmission connection with the tool head 111 and is used to drive the tool head 111 to rotate at a high speed, so that the tool head 111 can grind the end face of the workpiece, thereby forming a groove on the end face of the workpiece.

[0032] Optionally, the tool assembly 11 further includes a planetary reducer 113, also known as a planetary gear reducer, which has the characteristics of high efficiency and compactness and is suitable for application scenarios with high precision, high reliability, and large torque output. The first driving member 112 is a motor. The first driving member 112 is in transmission connection with the tool head 111 through the planetary reducer 113, so as to be able to increase the torque output and efficiently complete the fine grinding task to form a groove on the end face of the workpiece.

[0033] Preferably, both the tool head 111 and the first driving member 112 are located on the same side of the planetary reducer 113, so as to facilitate the arrangement of the tool assembly 11 on the processing system and prevent the tool assembly 11 from occupying too much space and affecting the installation of other structures.

[0034] The processing system provided by the embodiment of the present invention, as Figure 2 shown, the processing mechanism 1 further includes a first equipment frame 14. The first equipment frame 14 includes a horizontal plate 141 and a vertical plate 142; the horizontal plate 141 and the vertical plate 142 are connected and perpendicular to each other, and the cross section of the first equipment frame 14 is L-shaped. The feeding assembly includes an X-direction feeding assembly 12 and a Z-direction feeding assembly 13; the above-mentioned tool assembly 11 is installed on the horizontal plate 141 through the X-direction feeding assembly 12 to ensure the stability of the tool assembly 11 during operation; the Z-direction feeding assembly 13 is arranged on the vertical plate 142 and connected to the main frame 4 to improve the stability of the first equipment frame 14 during movement.

[0035] In use, the X-axis feeding component 12 drives the tool component 11 to move along the X-axis, so that the tool tip 111 can extend above the end face of the workpiece or withdraw from above the end face of the workpiece; the Z-axis feeding component 13 drives the first equipment frame 14 and the tool component 11 and the X-axis feeding component 12 located on the first equipment frame 14 to move along the Z-axis, so that the tool tip 111 can approach the end face of the workpiece, the tool tip 111 can contact the end face of the workpiece, or the tool tip 111 can move away from the end face of the workpiece.

[0036] Preferably, as Figure 2 shown, a notch 1421 is further provided on the vertical plate 142. The tool tip 111 of the tool component 11 can extend out of the notch 1421 under the action of the X-axis feeding component 12 to polish the end face of the workpiece, or the tool tip 111 of the tool component 11 can retract into the notch 1421 under the action of the X-axis feeding component 12 to avoid the workpiece. Therefore, the vertical plate 142 can also protect the tool tip 111 to a certain extent.

[0037] Optionally, as Figure 2 shown, in this embodiment, the above-mentioned X-axis feeding component 12 includes a third driving member 121, an X-axis slide rail 122, an X-axis slider 123 and a first transmission component. The X-axis slide rail 122 extends along the X-axis, and there are two of them. The two X-axis slide rails 122 are arranged at intervals on the upper surface of the horizontal plate 141. An X-axis slider 123 is slidably arranged on each X-axis slide rail 122, and the tool component 11 can be fixedly arranged on the X-axis slider 123 through structures such as a mounting plate. The third driving member 121 is fixedly arranged on the upper surface of the horizontal plate 141. The third driving member 121 can be a motor. The first transmission component is fixedly arranged on the mounting plate of the tool component 11. The first transmission component can be a lead screw module. The third driving member 121 is connected to the first transmission component and drives the tool component 11 to move along the X-axis by driving the first transmission component to move.

[0038] Optionally, as Figure 2 shown, in this embodiment, the above-mentioned Z-axis feeding component 13 includes a fourth driving member 131, a Z-axis slide rail 132, a Z-axis slider 133 and a second transmission component 134. The Z-axis slide rail 132 extends along the Z-axis, and it is fixedly arranged on the main frame 4 of the processing system. A Z-axis slide rail 132 is fixedly arranged on the side of the vertical plate 142 facing away from the horizontal plate 141. The Z-axis slide rail 132 is slidably connected to the Z-axis slider 133. The second transmission component 134 is fixedly arranged on the side of the vertical plate 142 facing away from the horizontal plate 141. The fourth driving member 131 is fixedly arranged on the main frame 4 of the processing system. The fourth driving member 131 is connected to the second transmission component 134 and drives the first equipment frame 14 and the X-axis feeding component 12 and the tool component 11 located on the first equipment frame 14 to move along the Z-axis by driving the second transmission component 134 to move.

[0039] The processing system provided by the embodiment of the present invention is as follows: Figure 1 and Figure 3 As shown, each crawling unit includes a plurality of wheel groups 21 spaced apart along the Y direction; further, each wheel group 21 includes two crawling wheel assemblies 22, and the two crawling wheel assemblies 22 include a driving assembly 23 and a crawling wheel 221; the two crawling wheels 221 of the same wheel group 21 are spaced apart from each other, and the axis direction of the two crawling wheels 221 extends along the X direction, so that when in use, the upper crawling wheel 221 can contact the upper surface of the end of the workpiece, and the lower crawling wheel 221 can contact the lower surface of the end of the workpiece. The driving assembly 23 is connected to the corresponding crawling wheel 221 in a transmission manner, and the driving assembly 23 is used to drive the corresponding crawling wheel 221 to rotate, so that the main frame 4 can move under the action of the crawling wheel 221, and the driving assembly 23 is also used to drive the corresponding crawling wheel 221 to move in a direction close to or away from another crawling wheel 221 in the same group, so that the two crawling wheels 221 in the same group can clamp or release the end of the workpiece. When the workpiece is a large ring weldment, a weld is provided on the workpiece, and the above-mentioned identification mechanism 24 can identify the weld on the workpiece, and the identification mechanism 24 can feed back the identification information to the driving assembly 23. When the driving assembly 23 drives the main frame 4 to move, it can also drive the corresponding crawling wheel 221 to move based on the information identified by the identification mechanism 24, so that when the main frame 4 moves, the crawling wheel 221 can pass over the weld when passing through the weld.

[0040] Preferably, the wheel sets 21 of the two crawling units are arranged in one-to-one correspondence, and the two wheel sets 21 arranged in one-to-one correspondence are also arranged relatively to each other, so as to ensure the stability of the crawling units during operation, balance the forces of each crawling unit, and extend the service life.

[0041] Preferably, the identification mechanism 24 includes two laser sensors. Since the moving direction of the main frame 4 is along the Y direction, the two laser sensors are respectively arranged at both ends of the main frame 4 to detect the weld information on the workpiece. The laser sensor adopts a non-contact measurement method with high accuracy and strong environmental adaptability.

[0042] Optional, such as Figure 3As shown, the above-mentioned driving assembly 23 includes a rotary driving assembly 23 and a radial driving assembly 23. The rotary driving assembly 23 is in transmission connection with the corresponding crawling wheel 221 and is used to drive the corresponding crawling wheel 221 to rotate. The radial driving assembly 23 is connected to the corresponding crawling wheel 221 and is used to drive the corresponding crawling wheel 221 to move in a direction close to or away from another crawling wheel 221 in the same wheel set 21. Preferably, the radial driving assembly 23 is connected to the rotary driving assembly 23, and the rotary driving assembly 23 is in transmission connection with the crawling wheel 221 through a speed reducer 233.

[0043] Optionally, as Figure 3 shown, the above-mentioned rotary driving assembly 23 includes a support block 231, a rotary driving motor 232 and a speed reducer 233; wherein, the support block 231 is used to support the crawling wheel 221. Structures such as bearings are arranged inside the support block 231. One end of the support block 231 is rotatably provided with the above-mentioned crawling wheel 221, and the other end is sequentially provided with the speed reducer 233 and the rotary driving motor 232. Moreover, the support block 231 is also used to be connected to the above-mentioned radial driving assembly 23.

[0044] Optionally, in this embodiment, as Figure 3 shown, the above-mentioned radial driving assembly 23 includes a lifting sliding sleeve 234, a radial driving motor 235 and a lead screw assembly 238; the lifting sliding sleeve 234 is connected to the lead screw assembly 238. Specifically, the lead screw nut of the lead screw assembly 238 is fixedly connected to the lifting sliding sleeve 234; the radial driving motor 235 is connected to the lead screw assembly 238 through a coupling and a worm and worm gear speed reducer and is used to drive the lead screw assembly 238 to move. When the lead screw assembly 238 moves, the lifting sliding sleeve 234 can move; one end of the lifting sliding sleeve 234 is connected to the above-mentioned support block 231. When the lifting sliding sleeve 234 moves, the support block 231 and the crawling wheel 221 and the rotary driving motor 232 on the support block 231 move synchronously, realizing the movement in a direction close to or away from another crawling wheel 221 in the same wheel set 21.

[0045] Preferably, in this embodiment, a pressure sensor can also be arranged on the lifting sliding sleeve 234 to monitor the pressure change during the traveling process.

[0046] In this embodiment, the lead screw assembly 238 drives the crawling wheel 221 to move. When the two crawling wheels 221 of the same wheel set 21 clamp the end of the workpiece, they can self-lock, and the safety is higher.

[0047] Preferably, in this embodiment, as Figure 3As shown, a lifting slider 236 is fixedly provided on the lifting sleeve 234, and a lifting rail 237 matching the lifting slider 236 is fixedly provided on the main frame 4 of the processing system. After assembly, the lifting slider 236 is slidably connected with the lifting rail 237. When the lifting sleeve 234 moves under the action of the radial drive motor 235, the coupling, the worm gear reducer and the screw assembly 238, the lifting slider 236 moves synchronously with the lifting sleeve 234 on the lifting rail 237, thereby improving the overall stability of the mechanism.

[0048] Preferably, in the present embodiment, a pressure sensor is provided in the crawler wheel 221 of the wheel assembly 21 at both ends for monitoring the pressure between the crawler wheel 221 and the workpiece, so that the radial drive assembly 23 of the drive assembly 23 can be adjusted in time to ensure the smooth operation of the mechanism.

[0049] Optionally, the mobile mechanism 2 is equipped with an electric control cabinet, and each wheel set 21 is provided with an electric control cabinet corresponding to the wheel set 21 for controlling the operating state of the corresponding wheel set 21 .

[0050] Preferably, the crawling wheel 221 provided with the pressure sensor is a steel wheel, which has a long service life and is convenient for cooperating with the pressure sensor, and the remaining crawling wheels 221 are rubber wheels, thereby ensuring stability during movement and having a certain obstacle-crossing ability.

[0051] In this embodiment, since each crawling unit includes multiple sets of wheel sets 21, it can achieve 360° movement along the tubular / annular workpiece and has the function of weld crossing. The pressure sensor in the crawling wheel 221 can adjust the radial drive assembly 23 according to factors such as the thickness of the workpiece, control the clamping force of the wheel set 21, and ensure that the processing system can operate in the best state.

[0052] Optionally, the processing system provided by the embodiment of the present invention is as follows: Figure 4 As shown, the positioning mechanism 3 includes a second equipment frame 31, a reference wheel 32, a second driving member 33 and a pushing member 34. The second equipment frame 31 is fixedly arranged on the main frame 4 of the processing system, specifically at the corresponding positions of the first frame 41 and the second frame 42. The reference wheel 32 is rotatably arranged on the main frame 4, and is also connected to the driving end of the pushing member 34. The pushing member 34 can be a telescopic cylinder such as an air cylinder, an oil cylinder or an electric cylinder; the circumference of the reference wheel 32 extends along the Z direction. During use, the pushing member 34 pushes the reference wheel 32 to move in the direction close to or away from the end face of the workpiece. The second driving member 33 is a motor, which is transmission-connected to the reference wheel 32 and drives the reference wheel 32 to rotate.

[0053] Furthermore, the processing system provided by the embodiment of the present invention is as follows: Figure 4As shown in the figure, the positioning mechanism 3 further includes an auxiliary wheel 35, an elastic component 36, and a displacement sensor 37. The auxiliary wheel 35 is rotatably arranged at one end of the elastic component 36, and the other end of the elastic component 36 is connected to the second device frame 31. The elastic component 36 includes multiple springs. The displacement sensor 37 is used to monitor the position of the auxiliary wheel 35 and feedback it to the pushing member 34, and the pushing member 34 controls the position of the reference wheel 32 based on the information feedback by the displacement sensor 37.

[0054] In this embodiment, the positioning mechanism 3 is arranged at both ends between the first frame 41 and the second frame 42. Through the positioning mechanism 3, displacement compensation detection is carried out, so as to differentially adjust the rotation speeds of the crawler wheels 221 on the first frame 41 and the second frame 42, thereby improving the stability during the operation of the system.

[0055] Another embodiment of the present invention also provides a processing method based on the processing system described in any of the above embodiments. In this embodiment, the processing object of the processing method is a tubular workpiece formed by welding.

[0056] The processing method includes the steps: Lift the processing system between two workpieces by a hoisting device; Adjust the distance between the processing side and the support side, and install the processing side and the support side on the end faces of the two workpieces respectively; Select the corresponding tool and start the tool assembly 11 for processing; After the processing is completed, turn the processing system 180° by the hoisting device to process the end face of another workpiece.

[0057] In this embodiment, the processing system is hoisted into place by a hoisting device. The distance between the first frame 41 and the second frame 42 is adjusted through the connecting frame 43, so that the reference wheels 32 on the first frame 41 and the second frame 42 are close to the end faces of the workpieces. At the same time, the radial feed assembly acts to make the crawler wheels 221 press tightly against the surfaces of the workpieces. After calibrating the tool, processing can be carried out. After one workpiece is processed, then turn the processing system 180° by the hoisting device and process another workpiece.

[0058] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some or all of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A processing system for processing a groove on a workpiece end surface; characterized in that: The processing system comprises: a main frame (4), a processing mechanism (1), a moving mechanism (2) and a positioning mechanism (3); The main frame (4) has a processing side and a supporting side which are arranged opposite to each other; The processing mechanism (1) is arranged on the processing side; the processing mechanism (1) comprises a tool assembly (11) for processing the groove and a feed assembly for driving the tool assembly (11) to move along the X direction and the Z direction; The moving mechanism (2) comprises an identification mechanism (24) and two crawling units arranged on the processing side and the supporting side, the crawling unit being used to drive the main frame (4) to move along the extension direction of the end surface of the workpiece; the identification mechanism (24) being used to identify the weld on the workpiece so that the crawling unit can pass over the weld on the workpiece when passing by; The processing side and the supporting side are both provided with the positioning mechanism (3), and the positioning mechanism (3) is used to contact the end surface of the workpiece to achieve X-direction positioning.

2. The processing system according to claim 1, characterized in that: The main frame (4) comprises a connecting frame (43) and a first frame body (41) and a second frame body (42) arranged opposite to each other; The first frame (41) forms the processing side, and the second frame (42) forms the supporting side; The first frame (41) and the second frame (42) are connected via the connecting frame (43), and the connecting frame (43) is capable of adjusting the distance between the first frame (41) and the second frame (42).

3. The processing system according to claim 1, characterized in that: The tool assembly (11) comprises a tool head (111) and a first driving member (112); the first driving member (112) is drivingly connected to the tool head (111) and is used to drive the tool head (111) to rotate.

4. The processing system according to claim 3, characterized in that: The feeding assembly comprises an X-direction feeding assembly (12) and a Z-direction feeding assembly (13); the processing mechanism (1) further comprises a first equipment frame (14); The tool assembly (11) is arranged on the first equipment frame (14) via the X-direction feeding assembly (12), and the X-direction feeding assembly (12) is used to drive the tool assembly (11) to move along the X-direction; the first equipment frame (14) is arranged on the main frame (4) via the Z-direction feeding assembly (13), and the Z-direction feeding assembly (13) is used to drive the first equipment frame (14) to move along the Z-direction.

5. The processing system according to claim 1, characterized in that: The crawling unit comprises a plurality of wheel sets (21) arranged at intervals along the Y direction; each wheel set (21) comprises two sets of crawling components; The crawling assembly comprises a driving assembly (23) and a crawling wheel (221); the two crawling wheels (221) of the same wheel assembly (21) are arranged with a vertical spacing; the driving assembly (23) is in transmission connection with the crawling wheel (221) and is used to drive the crawling wheel (221) to rotate, and to drive the crawling wheel (221) to move in a direction approaching or away from another crawling wheel (221) of the same wheel assembly (21); The identification mechanism (24) is electrically connected to the drive assembly (23), and the drive assembly (23) also controls the crawler wheel (221) to cross the weld on the workpiece based on the information identified by the identification mechanism (24).

6. The processing system according to claim 5, characterized in that: The wheel sets (21) of the two crawling units correspond one to one, and the two sets of wheel sets (21) that correspond one to one are arranged relative to each other.

7. The processing system according to claim 1, characterized in that: The identification mechanism (24) comprises two laser sensors; the two laser sensors are respectively arranged at two ends of the main frame (4) along a first direction.

8. The processing system according to claim 1, characterized in that: The positioning mechanism (3) comprises a second equipment frame (31), a reference wheel (32), a second driving member (33) and a pushing member (34); The second equipment frame (31) is fixedly arranged on the main frame (4); The reference wheel (32) is arranged on the second equipment frame (31) via the pushing member (34), and the pushing member (34) can drive the reference wheel (32) to move in a direction close to or away from the end face of the workpiece; the second driving member (33) is transmission-connected to the reference wheel (32) and drives the reference wheel (32) to rotate.

9. The processing system according to claim 8, characterized in that: The positioning mechanism (3) further comprises an auxiliary wheel (35), an elastic component (36) and a displacement sensor (37); The auxiliary wheel (35) is rotatably arranged; the auxiliary wheel (35) is arranged on the second equipment frame (31) through the elastic component (36); The displacement sensor (37) is fixedly arranged on the second equipment frame (31) and is used to detect position information of the auxiliary wheel. The pushing member (34) drives the reference wheel (32) to move based on the detection information of the displacement sensor (37).

10. A processing method, characterized in that: Based on the processing system according to any one of claims 1 to 9; The workpiece is in the shape of a tube, formed by rolling and welding a sheet; The processing method comprises the steps of: Lift the processing system between two workpieces using lifting equipment; Adjust the distance between the processing side and the supporting side, and install the processing side and the supporting side on the end faces of the two workpieces respectively; Select the corresponding tool and start machining with the tool assembly (11); After the processing is completed, the processing system is turned 180° by the lifting equipment to process the end face of another workpiece.

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